Abstract
This paper presents the idea of hybrid fuzzy-sliding control, and shows its use as a robust strategy to maintain the balance in the joints of a biped robot, whose behavior has showed stability, robustness and a very short response time. The fuzzy control scheme is used to join two different laws for behavior, within a single continuous control scheme. The operation was simulated off-line and subsequently recorded in the ROM of a small microcontroller like an input/output map, to reduce computational cost and achieve very short response times. Experimental results on the laboratory prototype demonstrated high performance and simplicity of the control approach.
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Martinez, F.H., Acero, D.M., Castiblanco, M. (2010). Hybrid Fuzzy-Sliding Scheme for the Balance Control of a Biped Robot. In: Huang, DS., Zhang, X., Reyes García, C.A., Zhang, L. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence. ICIC 2010. Lecture Notes in Computer Science(), vol 6216. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14932-0_54
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DOI: https://doi.org/10.1007/978-3-642-14932-0_54
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14931-3
Online ISBN: 978-3-642-14932-0
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